说明：  本论文针对驱动系统结构不确定及机械参数未知、机械谐振引起的安全性、 间隙非线性等问题展开关键技术的研究，从而为研发更高性能伺服驱动产品提 供新的理论与实践探索，对实现国产伺服技术的赶超及引领具有重要意义。
(In this paper, the problems of the uncertainties of structure and unknown mechanical parameters, the safety caused by mechanical resonance, the backlash nonlinearity, are organically considered in the servo drive system. The studied innovative and ground-breaking control technologies provides new theoretical and practical exploration for the development of higher performance servo drive products, which plays an important role in achieving catch-up and lead of servo technology.)